diff --git a/include/ceres/internal/line_parameterization.h b/include/ceres/internal/line_parameterization.h
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jodebo_beck@gmx.de (Johannes Beck)
+//
+
+#ifndef CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_
+#define CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_
+
+#include "householder_vector.h"
+
+namespace ceres {
+
+template <int AmbientSpaceDimension>
+bool LineParameterization<AmbientSpaceDimension>::Plus(
+    const double* x_ptr,
+    const double* delta_ptr,
+    double* x_plus_delta_ptr) const {
+  // We seek a box plus operator of the form
+  //
+  //   [o*, d*] = Plus([o, d], [delta_o, delta_d])
+  //
+  // where o is the origin point, d is the direction vector, delta_o is
+  // the delta of the origin point and delta_d the delta of the direction and
+  // o* and d* is the updated origin point and direction.
+  //
+  // We separate the Plus operator into the origin point and directional part
+  //   d* = Plus_d(d, delta_d)
+  //   o* = Plus_o(o, d, delta_o)
+  //
+  // The direction update function Plus_d is the same as for the homogeneous vector
+  // parameterization:
+  //
+  //   d* = H_{v(d)} [0.5 sinc(0.5 |delta_d|) delta_d, cos(0.5 |delta_d|)]^T
+  //
+  // where H is the householder matrix
+  //   H_{v} = I - (2 / |v|^2) v v^T
+  // and
+  //   v(d) = d - sign(d_n) |d| e_n.
+  //
+  // The origin point update function Plus_o is defined as
+  //
+  //   o* = o + H_{v(d)} [0.5 delta_o, 0]^T.
+
+  static constexpr int kDim = AmbientSpaceDimension;
+  using AmbientVector = Eigen::Matrix<double, kDim, 1>;
+  using AmbientVectorRef = Eigen::Map<Eigen::Matrix<double, kDim, 1>>;
+  using ConstAmbientVectorRef = Eigen::Map<const Eigen::Matrix<double, kDim, 1>>;
+  using ConstTangentVectorRef =
+      Eigen::Map<const Eigen::Matrix<double, kDim - 1, 1>>;
+  
+  
+  ConstAmbientVectorRef o(x_ptr);
+  ConstAmbientVectorRef d(x_ptr + kDim);
+
+  ConstTangentVectorRef delta_o(delta_ptr);
+  ConstTangentVectorRef delta_d(delta_ptr + kDim - 1);
+  AmbientVectorRef o_plus_delta(x_plus_delta_ptr);
+  AmbientVectorRef d_plus_delta(x_plus_delta_ptr + kDim);
+
+  const double norm_delta_d = delta_d.norm();
+
+  o_plus_delta = o;
+
+  // Shortcut for zero delta direction.
+  if (norm_delta_d == 0.0) {
+    d_plus_delta = d;
+
+    if (delta_o.isZero(0.0)) {
+      return true;
+    }
+  }
+
+  // Calculate the householder transformation which is needed for f_d and f_o.
+  AmbientVector v;
+  double beta;
+  internal::ComputeHouseholderVector(d, &v, &beta);
+
+  if (norm_delta_d != 0.0) {
+    // Map the delta from the minimum representation to the over parameterized
+    // homogeneous vector. See section A6.9.2 on page 624 of Hartley & Zisserman
+    // (2nd Edition) for a detailed description.  Note there is a typo on Page
+    // 625, line 4 so check the book errata.
+    const double norm_delta_div_2 = 0.5 * norm_delta_d;
+    const double sin_delta_by_delta =
+        std::sin(norm_delta_div_2) / norm_delta_div_2;
+
+    // Apply the delta update to remain on the unit sphere. See section A6.9.3
+    // on page 625 of Hartley & Zisserman (2nd Edition) for a detailed
+    // description.
+    AmbientVector y;
+    y.template head<kDim - 1>() = 0.5 * sin_delta_by_delta * delta_d;
+    y[kDim - 1] = std::cos(norm_delta_div_2);
+
+    d_plus_delta = d.norm() * (y - v * (beta * (v.transpose() * y)));
+  }
+
+  // The null space is in the direction of the line, so the tangent space is
+  // perpendicular to the line direction. This is achieved by using the
+  // householder matrix of the direction and allow only movements
+  // perpendicular to e_n.
+  //
+  // The factor of 0.5 is used to be consistent with the line direction
+  // update.
+  AmbientVector y;
+  y << 0.5 * delta_o, 0;
+  o_plus_delta += y - v * (beta * (v.transpose() * y));
+
+  return true;
+}
+
+template <int AmbientSpaceDimension>
+bool LineParameterization<AmbientSpaceDimension>::ComputeJacobian(
+    const double* x_ptr, double* jacobian_ptr) const {
+  static constexpr int kDim = AmbientSpaceDimension;
+  using AmbientVector = Eigen::Matrix<double, kDim, 1>;
+  using ConstAmbientVectorRef = Eigen::Map<const Eigen::Matrix<double, kDim, 1>>;  
+  using MatrixRef = Eigen::Map<
+      Eigen::Matrix<double, 2 * kDim, 2 * (kDim - 1), Eigen::RowMajor>>;
+
+  ConstAmbientVectorRef d(x_ptr + kDim);
+  MatrixRef jacobian(jacobian_ptr);
+
+  // Clear the Jacobian as only half of the matrix is not zero.
+  jacobian.setZero();
+
+  AmbientVector v;
+  double beta;
+  internal::ComputeHouseholderVector(d, &v, &beta);
+
+  // The Jacobian is equal to J = 0.5 * H.leftCols(kDim - 1) where H is
+  // the Householder matrix (H = I - beta * v * v') for the origin point. For
+  // the line direction part the Jacobian is scaled by the norm of the
+  // direction.
+  for (int i = 0; i < kDim - 1; ++i) {
+    jacobian.block(0, i, kDim, 1) = -0.5 * beta * v(i) * v;
+    jacobian.col(i)(i) += 0.5;
+  }
+
+  jacobian.template block<kDim, kDim - 1>(kDim, kDim - 1) =
+      jacobian.template block<kDim, kDim - 1>(0, 0) * d.norm();
+  return true;
+}
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_